{
  "nbformat": 4,
  "nbformat_minor": 0,
  "metadata": {
    "colab": {
      "provenance": [],
      "collapsed_sections": []
    },
    "kernelspec": {
      "name": "python3",
      "display_name": "Python 3"
    },
    "language_info": {
      "name": "python"
    }
  },
  "cells": [
    {
      "cell_type": "markdown",
      "source": [
        "[<img align=\"left\" src=\"https://colab.research.google.com/assets/colab-badge.svg\">](https://colab.research.google.com/github/sail-sg/envpool/blob/main/demo/envpool_demo_halfcheetah.ipynb)"
      ],
      "metadata": {
        "id": "sWsMLda2UqXs"
      }
    },
    {
      "cell_type": "code",
      "execution_count": null,
      "metadata": {
        "id": "E1e0nhtA2Cix"
      },
      "outputs": [],
      "source": [
        "# OS: Ubuntu 18.04.4 LTS x86_64\n",
        "# Kernel: 4.18.0-15-generic\n",
        "# CPU: Intel(R) Core(TM) i9-10920X CPU (24) @ 3.50GHz\n",
        "# GPU: NVIDIA GeForce RTX 2080 Ti\n",
        "!apt-get install -y \\\n",
        "    libgl1-mesa-dev \\\n",
        "    libgl1-mesa-glx \\\n",
        "    libglew-dev \\\n",
        "    libosmesa6-dev \\\n",
        "    software-properties-common\n",
        "\n",
        "!apt-get install -y patchelf\n",
        "!pip install git+https://github.com/Denys88/rl_games\n",
        "!pip install envpool\n",
        "!pip install gym\n",
        "\n",
        "!pip install free-mujoco-py\n",
        "!apt-get install -y xvfb python-opengl ffmpeg > /dev/null 2>&1\n",
        "!pip install imageio==2.4.1\n",
        "!pip install -U colabgymrender"
      ]
    },
    {
      "cell_type": "code",
      "source": [
        "from rl_games.torch_runner import Runner"
      ],
      "metadata": {
        "id": "Yx5DAo1t3WmH"
      },
      "execution_count": null,
      "outputs": []
    },
    {
      "cell_type": "code",
      "source": [
        "## breakout_envpool config:\n",
        "halfcheetah_config = {'params': {'seed': 5, \n",
        "                                 'algo': {'name': 'a2c_continuous'}, \n",
        "                                 'model': {'name': 'continuous_a2c_logstd'}, \n",
        "                                 'network': {'name': 'actor_critic', 'separate': False, \n",
        "                                             'space': {'continuous': {'mu_activation': 'None', \n",
        "                                                                      'sigma_activation': 'None', \n",
        "                                                                      'mu_init': {'name': 'default'}, \n",
        "                                                                      'sigma_init': {'name': 'const_initializer', 'val': 0}, \n",
        "                                                                      'fixed_sigma': True}}, \n",
        "                                             'mlp': {'units': [128, 64, 32], 'activation': 'elu', 'initializer': {'name': 'variance_scaling_initializer', 'scale': 2.0}}}, \n",
        "                                 'config': {'name': 'HalfCheetah-v4_envpool', \n",
        "                                            'env_name': 'envpool', \n",
        "                                            'score_to_win': 20000, \n",
        "                                            'normalize_input': True, \n",
        "                                            'normalize_value': True, \n",
        "                                            'value_bootstrap': True, \n",
        "                                            'reward_shaper': {'scale_value': 0.1}, \n",
        "                                            'normalize_advantage': True, \n",
        "                                            'use_smooth_clamp': True, \n",
        "                                            'gamma': 0.99, \n",
        "                                            'tau': 0.95, \n",
        "                                            'learning_rate': '5e-4', \n",
        "                                            'lr_schedule': 'adaptive', \n",
        "                                            'kl_threshold': 0.008, \n",
        "                                            'grad_norm': 1.0, \n",
        "                                            'entropy_coef': 0.0, \n",
        "                                            'truncate_grads': True, \n",
        "                                            'e_clip': 0.2, \n",
        "                                            'clip_value': False, \n",
        "                                            'num_actors': 64, \n",
        "                                            'horizon_length': 256, \n",
        "                                            'minibatch_size': 2048, \n",
        "                                            'mini_epochs': 5, \n",
        "                                            'critic_coef': 4, \n",
        "                                            'bounds_loss_coef': 0.0, \n",
        "                                            'max_epochs': 1000, \n",
        "                                            'env_config': {'env_name': 'HalfCheetah-v4', 'seed': 5}, \n",
        "                                            'player': {'render': True, 'deterministic': True, 'games_num': 100}}}}"
      ],
      "metadata": {
        "id": "MS2z_yYs3a7b"
      },
      "execution_count": null,
      "outputs": []
    },
    {
      "cell_type": "code",
      "source": [
        "runner = Runner()\n",
        "runner.load(halfcheetah_config)\n",
        "runner.run({\n",
        "    'train': True,\n",
        "})"
      ],
      "metadata": {
        "colab": {
          "base_uri": "https://localhost:8080/"
        },
        "id": "qrFeIFHo4IY9",
        "outputId": "87f182e6-3c2c-4e09-c317-733f1147a457"
      },
      "execution_count": null,
      "outputs": [
        {
          "output_type": "stream",
          "name": "stdout",
          "text": [
            "self.seed = 5\n",
            "Started to train\n",
            "current training device: cuda:0\n",
            "build mlp: 17\n",
            "17 2.0\n",
            "128 2.0\n",
            "64 2.0\n",
            "32 2.0\n",
            "32 2.0\n",
            "RunningMeanStd:  (1,)\n",
            "RunningMeanStd:  (17,)\n",
            "fps step: 62489 fps step and policy inference: 28838 fps total: 18177 epoch: 1/1000\n",
            "fps step: 59257 fps step and policy inference: 25729 fps total: 17079 epoch: 2/1000\n",
            "fps step: 60795 fps step and policy inference: 27544 fps total: 18056 epoch: 3/1000\n",
            "fps step: 58677 fps step and policy inference: 26044 fps total: 17284 epoch: 4/1000\n",
            "fps step: 63526 fps step and policy inference: 28307 fps total: 18434 epoch: 5/1000\n",
            "fps step: 59637 fps step and policy inference: 25673 fps total: 17049 epoch: 6/1000\n",
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            "fps step: 56503 fps step and policy inference: 23412 fps total: 16142 epoch: 100/1000\n",
            "saving next best rewards:  [818.1738]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 55977 fps step and policy inference: 23308 fps total: 16112 epoch: 101/1000\n",
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            "saving next best rewards:  [854.3523]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 58796 fps step and policy inference: 25647 fps total: 17072 epoch: 103/1000\n",
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            "saving next best rewards:  [870.3095]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 62183 fps step and policy inference: 27982 fps total: 17981 epoch: 115/1000\n",
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            "saving next best rewards:  [918.2434]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 58136 fps step and policy inference: 24578 fps total: 16536 epoch: 119/1000\n",
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            "saving next best rewards:  [937.3634]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 54965 fps step and policy inference: 22899 fps total: 15810 epoch: 123/1000\n",
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            "saving next best rewards:  [955.939]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 55060 fps step and policy inference: 22733 fps total: 15774 epoch: 127/1000\n",
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            "saving next best rewards:  [966.7492]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 60184 fps step and policy inference: 26641 fps total: 17556 epoch: 131/1000\n",
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            "saving next best rewards:  [979.53186]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 56714 fps step and policy inference: 24234 fps total: 16508 epoch: 134/1000\n",
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            "saving next best rewards:  [992.0665]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 60725 fps step and policy inference: 27126 fps total: 17775 epoch: 138/1000\n",
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            "saving next best rewards:  [1004.3942]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
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            "saving next best rewards:  [1014.3695]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 59623 fps step and policy inference: 25775 fps total: 17114 epoch: 146/1000\n",
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            "saving next best rewards:  [1018.8403]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 55967 fps step and policy inference: 22887 fps total: 15900 epoch: 150/1000\n",
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            "saving next best rewards:  [1021.1794]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 61424 fps step and policy inference: 27457 fps total: 17864 epoch: 154/1000\n",
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            "saving next best rewards:  [1031.0359]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 61759 fps step and policy inference: 27685 fps total: 18167 epoch: 158/1000\n",
            "fps step: 57292 fps step and policy inference: 23898 fps total: 16332 epoch: 159/1000\n",
            "fps step: 62145 fps step and policy inference: 27699 fps total: 18048 epoch: 160/1000\n",
            "fps step: 59662 fps step and policy inference: 26677 fps total: 17645 epoch: 161/1000\n",
            "saving next best rewards:  [1036.5492]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 63847 fps step and policy inference: 28908 fps total: 18564 epoch: 162/1000\n",
            "fps step: 62794 fps step and policy inference: 28387 fps total: 18298 epoch: 163/1000\n",
            "fps step: 57818 fps step and policy inference: 24093 fps total: 16215 epoch: 164/1000\n",
            "fps step: 61826 fps step and policy inference: 28602 fps total: 18307 epoch: 165/1000\n",
            "saving next best rewards:  [1044.2512]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 53912 fps step and policy inference: 22274 fps total: 15653 epoch: 166/1000\n",
            "fps step: 60681 fps step and policy inference: 26400 fps total: 17509 epoch: 167/1000\n",
            "fps step: 61480 fps step and policy inference: 27276 fps total: 17862 epoch: 168/1000\n",
            "fps step: 61681 fps step and policy inference: 28315 fps total: 18214 epoch: 169/1000\n",
            "saving next best rewards:  [1045.2772]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 61809 fps step and policy inference: 27350 fps total: 17755 epoch: 170/1000\n",
            "fps step: 60529 fps step and policy inference: 26745 fps total: 17480 epoch: 171/1000\n",
            "fps step: 58244 fps step and policy inference: 24935 fps total: 16855 epoch: 172/1000\n",
            "fps step: 59116 fps step and policy inference: 26386 fps total: 17524 epoch: 173/1000\n",
            "saving next best rewards:  [1055.2021]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 58656 fps step and policy inference: 25185 fps total: 16747 epoch: 174/1000\n",
            "fps step: 63285 fps step and policy inference: 28757 fps total: 18469 epoch: 175/1000\n",
            "fps step: 60012 fps step and policy inference: 26713 fps total: 17587 epoch: 176/1000\n",
            "saving next best rewards:  [1064.368]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 52495 fps step and policy inference: 21303 fps total: 15147 epoch: 177/1000\n",
            "fps step: 57237 fps step and policy inference: 24322 fps total: 16470 epoch: 178/1000\n",
            "fps step: 59387 fps step and policy inference: 26095 fps total: 17463 epoch: 179/1000\n",
            "fps step: 55453 fps step and policy inference: 23355 fps total: 15778 epoch: 180/1000\n",
            "saving next best rewards:  [1079.767]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 63381 fps step and policy inference: 29169 fps total: 18674 epoch: 181/1000\n",
            "fps step: 62007 fps step and policy inference: 27923 fps total: 18057 epoch: 182/1000\n",
            "fps step: 63320 fps step and policy inference: 28486 fps total: 17819 epoch: 183/1000\n",
            "fps step: 54846 fps step and policy inference: 23235 fps total: 16086 epoch: 184/1000\n",
            "saving next best rewards:  [1082.8523]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 60588 fps step and policy inference: 26242 fps total: 17424 epoch: 185/1000\n",
            "fps step: 62491 fps step and policy inference: 27826 fps total: 18014 epoch: 186/1000\n",
            "fps step: 61947 fps step and policy inference: 27844 fps total: 18145 epoch: 187/1000\n",
            "fps step: 56150 fps step and policy inference: 23668 fps total: 16109 epoch: 188/1000\n",
            "saving next best rewards:  [1088.9779]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 60702 fps step and policy inference: 26620 fps total: 17593 epoch: 189/1000\n",
            "fps step: 62702 fps step and policy inference: 28239 fps total: 18331 epoch: 190/1000\n",
            "fps step: 57254 fps step and policy inference: 23870 fps total: 16310 epoch: 191/1000\n",
            "fps step: 58445 fps step and policy inference: 25717 fps total: 17220 epoch: 192/1000\n",
            "saving next best rewards:  [1089.729]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 60018 fps step and policy inference: 26193 fps total: 17355 epoch: 193/1000\n",
            "fps step: 60899 fps step and policy inference: 26656 fps total: 17582 epoch: 194/1000\n",
            "fps step: 63322 fps step and policy inference: 29001 fps total: 18603 epoch: 195/1000\n",
            "fps step: 59671 fps step and policy inference: 26670 fps total: 17552 epoch: 196/1000\n",
            "saving next best rewards:  [1097.6427]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 58770 fps step and policy inference: 25414 fps total: 17109 epoch: 197/1000\n",
            "fps step: 63941 fps step and policy inference: 29231 fps total: 18511 epoch: 198/1000\n",
            "fps step: 64049 fps step and policy inference: 29096 fps total: 18569 epoch: 199/1000\n",
            "fps step: 57649 fps step and policy inference: 24789 fps total: 16575 epoch: 200/1000\n",
            "saving next best rewards:  [1109.6387]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 61038 fps step and policy inference: 27217 fps total: 17889 epoch: 201/1000\n",
            "fps step: 58032 fps step and policy inference: 24637 fps total: 16666 epoch: 202/1000\n",
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            "fps step: 60136 fps step and policy inference: 26360 fps total: 17321 epoch: 204/1000\n",
            "saving next best rewards:  [1115.0956]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 61262 fps step and policy inference: 27108 fps total: 17925 epoch: 205/1000\n",
            "fps step: 60909 fps step and policy inference: 26745 fps total: 17664 epoch: 206/1000\n",
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            "fps step: 60651 fps step and policy inference: 26687 fps total: 17523 epoch: 208/1000\n",
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            "fps step: 63597 fps step and policy inference: 29071 fps total: 18725 epoch: 210/1000\n",
            "fps step: 58683 fps step and policy inference: 25137 fps total: 16889 epoch: 211/1000\n",
            "fps step: 56336 fps step and policy inference: 23755 fps total: 16185 epoch: 212/1000\n",
            "fps step: 63272 fps step and policy inference: 28807 fps total: 18539 epoch: 213/1000\n",
            "fps step: 56177 fps step and policy inference: 23539 fps total: 16185 epoch: 214/1000\n",
            "fps step: 62573 fps step and policy inference: 28339 fps total: 18443 epoch: 215/1000\n",
            "fps step: 58686 fps step and policy inference: 26035 fps total: 17020 epoch: 216/1000\n",
            "saving next best rewards:  [1117.6224]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 60725 fps step and policy inference: 26845 fps total: 17643 epoch: 217/1000\n",
            "fps step: 57516 fps step and policy inference: 24437 fps total: 16690 epoch: 218/1000\n",
            "fps step: 62228 fps step and policy inference: 28445 fps total: 18209 epoch: 219/1000\n",
            "fps step: 61373 fps step and policy inference: 27334 fps total: 17934 epoch: 220/1000\n",
            "fps step: 60654 fps step and policy inference: 27032 fps total: 17752 epoch: 221/1000\n",
            "fps step: 60400 fps step and policy inference: 26190 fps total: 17470 epoch: 222/1000\n",
            "fps step: 59608 fps step and policy inference: 26097 fps total: 17148 epoch: 223/1000\n",
            "saving next best rewards:  [1124.0813]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 57027 fps step and policy inference: 23687 fps total: 16088 epoch: 224/1000\n",
            "fps step: 57619 fps step and policy inference: 24306 fps total: 16539 epoch: 225/1000\n",
            "fps step: 63007 fps step and policy inference: 28694 fps total: 18484 epoch: 226/1000\n",
            "fps step: 61284 fps step and policy inference: 27926 fps total: 18001 epoch: 227/1000\n",
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            "fps step: 61256 fps step and policy inference: 26897 fps total: 17726 epoch: 229/1000\n",
            "fps step: 63996 fps step and policy inference: 29199 fps total: 18730 epoch: 230/1000\n",
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            "fps step: 59111 fps step and policy inference: 25209 fps total: 16910 epoch: 232/1000\n",
            "fps step: 64035 fps step and policy inference: 29163 fps total: 18757 epoch: 233/1000\n",
            "fps step: 64258 fps step and policy inference: 29323 fps total: 18830 epoch: 234/1000\n",
            "fps step: 60071 fps step and policy inference: 26160 fps total: 17275 epoch: 235/1000\n",
            "saving next best rewards:  [1130.4342]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 63187 fps step and policy inference: 28685 fps total: 18483 epoch: 236/1000\n",
            "fps step: 63720 fps step and policy inference: 29157 fps total: 18567 epoch: 237/1000\n",
            "fps step: 64498 fps step and policy inference: 29313 fps total: 18751 epoch: 238/1000\n",
            "fps step: 59118 fps step and policy inference: 25956 fps total: 17245 epoch: 239/1000\n",
            "saving next best rewards:  [1137.3552]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 63212 fps step and policy inference: 28423 fps total: 18353 epoch: 240/1000\n",
            "fps step: 63883 fps step and policy inference: 29064 fps total: 18705 epoch: 241/1000\n",
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            "fps step: 61104 fps step and policy inference: 27336 fps total: 17981 epoch: 243/1000\n",
            "saving next best rewards:  [1137.7528]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 56261 fps step and policy inference: 23781 fps total: 16281 epoch: 244/1000\n",
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            "fps step: 62123 fps step and policy inference: 28746 fps total: 18554 epoch: 247/1000\n",
            "fps step: 62070 fps step and policy inference: 27384 fps total: 18024 epoch: 248/1000\n",
            "fps step: 63197 fps step and policy inference: 28269 fps total: 18265 epoch: 249/1000\n",
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            "fps step: 62073 fps step and policy inference: 28336 fps total: 18316 epoch: 251/1000\n",
            "saving next best rewards:  [1143.3489]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 58832 fps step and policy inference: 25478 fps total: 17068 epoch: 252/1000\n",
            "fps step: 63878 fps step and policy inference: 29061 fps total: 18816 epoch: 253/1000\n",
            "fps step: 64047 fps step and policy inference: 29297 fps total: 18872 epoch: 254/1000\n",
            "fps step: 60815 fps step and policy inference: 27235 fps total: 17837 epoch: 255/1000\n",
            "saving next best rewards:  [1149.7886]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 62451 fps step and policy inference: 27115 fps total: 17892 epoch: 256/1000\n",
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            "fps step: 61139 fps step and policy inference: 27192 fps total: 17565 epoch: 259/1000\n",
            "saving next best rewards:  [1157.3303]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 54157 fps step and policy inference: 22416 fps total: 15586 epoch: 260/1000\n",
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            "fps step: 61337 fps step and policy inference: 27135 fps total: 17945 epoch: 266/1000\n",
            "saving next best rewards:  [1160.3453]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 57231 fps step and policy inference: 24086 fps total: 16513 epoch: 267/1000\n",
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            "fps step: 63277 fps step and policy inference: 28701 fps total: 18426 epoch: 273/1000\n",
            "fps step: 58232 fps step and policy inference: 24897 fps total: 16755 epoch: 274/1000\n",
            "saving next best rewards:  [1162.6523]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 59110 fps step and policy inference: 25363 fps total: 16920 epoch: 275/1000\n",
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            "fps step: 61367 fps step and policy inference: 26994 fps total: 17495 epoch: 277/1000\n",
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            "fps step: 64025 fps step and policy inference: 28893 fps total: 18667 epoch: 279/1000\n",
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            "fps step: 53359 fps step and policy inference: 22069 fps total: 15446 epoch: 282/1000\n",
            "saving next best rewards:  [1164.9218]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 58106 fps step and policy inference: 24867 fps total: 16867 epoch: 283/1000\n",
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            "fps step: 59382 fps step and policy inference: 25522 fps total: 17002 epoch: 285/1000\n",
            "fps step: 53972 fps step and policy inference: 22373 fps total: 15686 epoch: 286/1000\n",
            "saving next best rewards:  [1172.8223]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 61222 fps step and policy inference: 26537 fps total: 17583 epoch: 287/1000\n",
            "fps step: 59395 fps step and policy inference: 25745 fps total: 17061 epoch: 288/1000\n",
            "fps step: 56450 fps step and policy inference: 23282 fps total: 16132 epoch: 289/1000\n",
            "fps step: 60346 fps step and policy inference: 27116 fps total: 17859 epoch: 290/1000\n",
            "saving next best rewards:  [1174.0287]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 63443 fps step and policy inference: 28706 fps total: 18478 epoch: 291/1000\n",
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            "fps step: 62399 fps step and policy inference: 28775 fps total: 18367 epoch: 294/1000\n",
            "saving next best rewards:  [1180.4784]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 62428 fps step and policy inference: 28219 fps total: 18132 epoch: 295/1000\n",
            "fps step: 61060 fps step and policy inference: 26285 fps total: 17218 epoch: 296/1000\n",
            "fps step: 62570 fps step and policy inference: 28138 fps total: 18062 epoch: 297/1000\n",
            "fps step: 57146 fps step and policy inference: 24483 fps total: 16452 epoch: 298/1000\n",
            "saving next best rewards:  [1184.8309]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 59406 fps step and policy inference: 25481 fps total: 17035 epoch: 299/1000\n",
            "fps step: 63539 fps step and policy inference: 28570 fps total: 18094 epoch: 300/1000\n",
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            "fps step: 52385 fps step and policy inference: 21419 fps total: 15208 epoch: 302/1000\n",
            "saving next best rewards:  [1196.1543]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 63451 fps step and policy inference: 28645 fps total: 18415 epoch: 303/1000\n",
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            "fps step: 61408 fps step and policy inference: 26984 fps total: 17700 epoch: 305/1000\n",
            "saving next best rewards:  [1201.6825]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 62779 fps step and policy inference: 28466 fps total: 18248 epoch: 306/1000\n",
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            "fps step: 61445 fps step and policy inference: 27625 fps total: 17987 epoch: 309/1000\n",
            "saving next best rewards:  [1204.7086]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 56338 fps step and policy inference: 23749 fps total: 16278 epoch: 310/1000\n",
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            "fps step: 61382 fps step and policy inference: 28071 fps total: 18176 epoch: 313/1000\n",
            "saving next best rewards:  [1207.7092]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 64034 fps step and policy inference: 29315 fps total: 18767 epoch: 314/1000\n",
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            "fps step: 60355 fps step and policy inference: 26972 fps total: 17279 epoch: 317/1000\n",
            "saving next best rewards:  [1210.9998]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 55137 fps step and policy inference: 22540 fps total: 15598 epoch: 318/1000\n",
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            "fps step: 60764 fps step and policy inference: 27381 fps total: 17940 epoch: 325/1000\n",
            "saving next best rewards:  [1215.7773]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 61592 fps step and policy inference: 27201 fps total: 17857 epoch: 326/1000\n",
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            "fps step: 58474 fps step and policy inference: 25738 fps total: 17241 epoch: 329/1000\n",
            "saving next best rewards:  [1217.6003]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 57184 fps step and policy inference: 24211 fps total: 16308 epoch: 330/1000\n",
            "fps step: 58795 fps step and policy inference: 25166 fps total: 16923 epoch: 331/1000\n",
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            "fps step: 61529 fps step and policy inference: 28041 fps total: 18206 epoch: 333/1000\n",
            "saving next best rewards:  [1223.5044]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 62009 fps step and policy inference: 27146 fps total: 17833 epoch: 334/1000\n",
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            "fps step: 57977 fps step and policy inference: 24615 fps total: 16749 epoch: 337/1000\n",
            "saving next best rewards:  [1227.4424]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 59286 fps step and policy inference: 25991 fps total: 17052 epoch: 338/1000\n",
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            "fps step: 62111 fps step and policy inference: 27240 fps total: 17526 epoch: 340/1000\n",
            "fps step: 59684 fps step and policy inference: 26502 fps total: 17476 epoch: 341/1000\n",
            "saving next best rewards:  [1231.1469]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 60334 fps step and policy inference: 26344 fps total: 17587 epoch: 342/1000\n",
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            "fps step: 54933 fps step and policy inference: 23115 fps total: 16014 epoch: 345/1000\n",
            "saving next best rewards:  [1234.4147]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 63558 fps step and policy inference: 28652 fps total: 18277 epoch: 346/1000\n",
            "fps step: 56428 fps step and policy inference: 23439 fps total: 16081 epoch: 347/1000\n",
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            "fps step: 59494 fps step and policy inference: 25389 fps total: 16942 epoch: 352/1000\n",
            "saving next best rewards:  [1236.9548]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 59189 fps step and policy inference: 25580 fps total: 17182 epoch: 353/1000\n",
            "fps step: 62819 fps step and policy inference: 27056 fps total: 17385 epoch: 354/1000\n",
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            "fps step: 59075 fps step and policy inference: 25842 fps total: 17183 epoch: 356/1000\n",
            "saving next best rewards:  [1238.1478]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 64531 fps step and policy inference: 29314 fps total: 18755 epoch: 357/1000\n",
            "fps step: 63732 fps step and policy inference: 28607 fps total: 18304 epoch: 358/1000\n",
            "fps step: 62327 fps step and policy inference: 27566 fps total: 18104 epoch: 359/1000\n",
            "fps step: 61949 fps step and policy inference: 27936 fps total: 18090 epoch: 360/1000\n",
            "saving next best rewards:  [1248.426]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 64254 fps step and policy inference: 29384 fps total: 18759 epoch: 361/1000\n",
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            "fps step: 56509 fps step and policy inference: 24072 fps total: 16367 epoch: 364/1000\n",
            "saving next best rewards:  [1251.962]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 63911 fps step and policy inference: 28946 fps total: 18647 epoch: 365/1000\n",
            "fps step: 61149 fps step and policy inference: 26554 fps total: 17464 epoch: 366/1000\n",
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            "fps step: 60921 fps step and policy inference: 27292 fps total: 17939 epoch: 368/1000\n",
            "saving next best rewards:  [1252.8398]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 58503 fps step and policy inference: 24972 fps total: 16864 epoch: 369/1000\n",
            "fps step: 62531 fps step and policy inference: 27682 fps total: 17976 epoch: 370/1000\n",
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            "fps step: 57071 fps step and policy inference: 24325 fps total: 16614 epoch: 372/1000\n",
            "saving next best rewards:  [1253.3486]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 55737 fps step and policy inference: 22748 fps total: 15934 epoch: 373/1000\n",
            "fps step: 59492 fps step and policy inference: 25497 fps total: 17148 epoch: 374/1000\n",
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            "fps step: 61360 fps step and policy inference: 27563 fps total: 18097 epoch: 376/1000\n",
            "saving next best rewards:  [1259.0176]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 64248 fps step and policy inference: 28943 fps total: 18400 epoch: 377/1000\n",
            "fps step: 63138 fps step and policy inference: 27692 fps total: 17791 epoch: 378/1000\n",
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            "fps step: 60661 fps step and policy inference: 27162 fps total: 17897 epoch: 380/1000\n",
            "saving next best rewards:  [1260.0424]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 63198 fps step and policy inference: 28152 fps total: 17863 epoch: 381/1000\n",
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            "fps step: 59057 fps step and policy inference: 25705 fps total: 16941 epoch: 392/1000\n",
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            "fps step: 63529 fps step and policy inference: 28750 fps total: 18509 epoch: 394/1000\n",
            "fps step: 61691 fps step and policy inference: 27073 fps total: 17896 epoch: 395/1000\n",
            "saving next best rewards:  [1265.2601]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 63241 fps step and policy inference: 28679 fps total: 18243 epoch: 396/1000\n",
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            "fps step: 60749 fps step and policy inference: 26633 fps total: 17424 epoch: 399/1000\n",
            "saving next best rewards:  [1276.3889]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 59523 fps step and policy inference: 25423 fps total: 16892 epoch: 400/1000\n",
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            "fps step: 61809 fps step and policy inference: 28009 fps total: 18081 epoch: 403/1000\n",
            "saving next best rewards:  [1281.0923]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 60562 fps step and policy inference: 26078 fps total: 17308 epoch: 404/1000\n",
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            "fps step: 58573 fps step and policy inference: 25507 fps total: 17052 epoch: 407/1000\n",
            "saving next best rewards:  [1282.646]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 63892 fps step and policy inference: 28262 fps total: 18249 epoch: 408/1000\n",
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            "fps step: 59430 fps step and policy inference: 26010 fps total: 17141 epoch: 411/1000\n",
            "saving next best rewards:  [1286.6921]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 54222 fps step and policy inference: 21933 fps total: 15357 epoch: 412/1000\n",
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            "fps step: 58362 fps step and policy inference: 25124 fps total: 17006 epoch: 415/1000\n",
            "saving next best rewards:  [1288.418]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 64772 fps step and policy inference: 29352 fps total: 18802 epoch: 416/1000\n",
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            "fps step: 59562 fps step and policy inference: 26291 fps total: 17484 epoch: 419/1000\n",
            "saving next best rewards:  [1293.5834]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 64542 fps step and policy inference: 29109 fps total: 18670 epoch: 420/1000\n",
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            "fps step: 59747 fps step and policy inference: 25920 fps total: 17314 epoch: 438/1000\n",
            "saving next best rewards:  [1298.6871]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 57127 fps step and policy inference: 23983 fps total: 16435 epoch: 439/1000\n",
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            "fps step: 61102 fps step and policy inference: 27257 fps total: 17922 epoch: 442/1000\n",
            "saving next best rewards:  [1300.9241]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 61971 fps step and policy inference: 27372 fps total: 17993 epoch: 443/1000\n",
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            "fps step: 60449 fps step and policy inference: 26801 fps total: 17694 epoch: 446/1000\n",
            "saving next best rewards:  [1304.0745]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 65066 fps step and policy inference: 29376 fps total: 18805 epoch: 447/1000\n",
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            "saving next best rewards:  [1307.29]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 64421 fps step and policy inference: 29405 fps total: 18629 epoch: 451/1000\n",
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            "fps step: 58763 fps step and policy inference: 25913 fps total: 17334 epoch: 454/1000\n",
            "saving next best rewards:  [1313.0443]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 58773 fps step and policy inference: 24575 fps total: 16680 epoch: 455/1000\n",
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            "saving next best rewards:  [1314.1877]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 62575 fps step and policy inference: 27883 fps total: 17974 epoch: 459/1000\n",
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            "fps step: 62307 fps step and policy inference: 28165 fps total: 18209 epoch: 466/1000\n",
            "saving next best rewards:  [1319.8751]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 58391 fps step and policy inference: 25089 fps total: 16733 epoch: 467/1000\n",
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            "fps step: 62085 fps step and policy inference: 28557 fps total: 18349 epoch: 470/1000\n",
            "saving next best rewards:  [1323.2725]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 64408 fps step and policy inference: 29162 fps total: 18785 epoch: 471/1000\n",
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            "fps step: 61380 fps step and policy inference: 27279 fps total: 17824 epoch: 485/1000\n",
            "saving next best rewards:  [1324.4282]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 58174 fps step and policy inference: 24670 fps total: 16822 epoch: 486/1000\n",
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            "fps step: 61699 fps step and policy inference: 27953 fps total: 18293 epoch: 497/1000\n",
            "saving next best rewards:  [1327.4231]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 60508 fps step and policy inference: 26045 fps total: 17370 epoch: 498/1000\n",
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            "fps step: 57778 fps step and policy inference: 24370 fps total: 16361 epoch: 501/1000\n",
            "saving next best rewards:  [1333.0974]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 59584 fps step and policy inference: 24485 fps total: 16260 epoch: 502/1000\n",
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            "fps step: 60925 fps step and policy inference: 27090 fps total: 17686 epoch: 509/1000\n",
            "saving next best rewards:  [1337.2572]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 63260 fps step and policy inference: 28304 fps total: 18041 epoch: 510/1000\n",
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            "fps step: 58775 fps step and policy inference: 25718 fps total: 17212 epoch: 513/1000\n",
            "saving next best rewards:  [1337.2776]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 61159 fps step and policy inference: 26561 fps total: 17503 epoch: 514/1000\n",
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            "saving next best rewards:  [1340.7289]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 62469 fps step and policy inference: 26657 fps total: 17213 epoch: 518/1000\n",
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            "saving next best rewards:  [1344.4573]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 62923 fps step and policy inference: 28441 fps total: 18214 epoch: 525/1000\n",
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            "saving next best rewards:  [1349.1943]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 62374 fps step and policy inference: 28032 fps total: 17980 epoch: 572/1000\n",
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            "saving next best rewards:  [1350.5806]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 60377 fps step and policy inference: 26051 fps total: 17327 epoch: 580/1000\n",
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            "saving next best rewards:  [1355.495]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 60380 fps step and policy inference: 25693 fps total: 17121 epoch: 584/1000\n",
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            "saving next best rewards:  [1358.167]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 59749 fps step and policy inference: 25684 fps total: 17264 epoch: 615/1000\n",
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            "saving next best rewards:  [1361.5159]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 60914 fps step and policy inference: 26750 fps total: 17776 epoch: 623/1000\n",
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            "saving next best rewards:  [1365.7087]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
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            "saving next best rewards:  [1367.465]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 58607 fps step and policy inference: 24855 fps total: 16827 epoch: 705/1000\n",
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            "saving next best rewards:  [1370.4733]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 59487 fps step and policy inference: 25634 fps total: 17280 epoch: 713/1000\n",
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            "saving next best rewards:  [1373.7653]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 62768 fps step and policy inference: 27397 fps total: 17913 epoch: 721/1000\n",
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            "saving next best rewards:  [1376.0829]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 63925 fps step and policy inference: 28446 fps total: 18446 epoch: 725/1000\n",
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            "fps step: 60009 fps step and policy inference: 26660 fps total: 17739 epoch: 732/1000\n",
            "saving next best rewards:  [1380.6776]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 60384 fps step and policy inference: 25853 fps total: 17280 epoch: 733/1000\n",
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            "saving next best rewards:  [1387.0175]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 63797 fps step and policy inference: 28424 fps total: 18473 epoch: 737/1000\n",
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            "saving next best rewards:  [1387.8055]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 52389 fps step and policy inference: 20566 fps total: 14575 epoch: 741/1000\n",
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            "saving next best rewards:  [1394.1024]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 60735 fps step and policy inference: 26802 fps total: 17698 epoch: 744/1000\n",
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            "saving next best rewards:  [1399.6426]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 60846 fps step and policy inference: 26661 fps total: 17706 epoch: 748/1000\n",
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            "fps step: 63587 fps step and policy inference: 29031 fps total: 18536 epoch: 786/1000\n",
            "saving next best rewards:  [1405.6737]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 62186 fps step and policy inference: 28023 fps total: 18177 epoch: 787/1000\n",
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            "saving next best rewards:  [1414.5619]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 64567 fps step and policy inference: 29366 fps total: 18695 epoch: 791/1000\n",
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            "saving next best rewards:  [1424.5096]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 57198 fps step and policy inference: 23734 fps total: 16219 epoch: 795/1000\n",
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            "saving next best rewards:  [1425.7277]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 61912 fps step and policy inference: 27063 fps total: 17556 epoch: 799/1000\n",
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            "fps step: 62544 fps step and policy inference: 28440 fps total: 18377 epoch: 927/1000\n",
            "saving next best rewards:  [1426.002]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 62722 fps step and policy inference: 26824 fps total: 17650 epoch: 928/1000\n",
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            "saving next best rewards:  [1434.0319]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 57064 fps step and policy inference: 23084 fps total: 15666 epoch: 932/1000\n",
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            "saving next best rewards:  [1438.5753]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 63351 fps step and policy inference: 28180 fps total: 18227 epoch: 936/1000\n",
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            "saving next best rewards:  [1439.3237]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 60866 fps step and policy inference: 26166 fps total: 17288 epoch: 940/1000\n",
            "fps step: 59155 fps step and policy inference: 25144 fps total: 16955 epoch: 941/1000\n",
            "fps step: 65483 fps step and policy inference: 29693 fps total: 18971 epoch: 942/1000\n",
            "fps step: 60957 fps step and policy inference: 27041 fps total: 17460 epoch: 943/1000\n",
            "fps step: 60740 fps step and policy inference: 26196 fps total: 17329 epoch: 944/1000\n",
            "fps step: 65710 fps step and policy inference: 29449 fps total: 18782 epoch: 945/1000\n",
            "fps step: 65489 fps step and policy inference: 29613 fps total: 18869 epoch: 946/1000\n",
            "fps step: 63046 fps step and policy inference: 28949 fps total: 18520 epoch: 947/1000\n",
            "fps step: 65135 fps step and policy inference: 29486 fps total: 18710 epoch: 948/1000\n",
            "fps step: 58646 fps step and policy inference: 24418 fps total: 16667 epoch: 949/1000\n",
            "fps step: 61280 fps step and policy inference: 26106 fps total: 17377 epoch: 950/1000\n",
            "fps step: 61203 fps step and policy inference: 27328 fps total: 17836 epoch: 951/1000\n",
            "fps step: 61239 fps step and policy inference: 26207 fps total: 17312 epoch: 952/1000\n",
            "fps step: 65237 fps step and policy inference: 29542 fps total: 18838 epoch: 953/1000\n",
            "fps step: 61777 fps step and policy inference: 26985 fps total: 17755 epoch: 954/1000\n",
            "fps step: 59421 fps step and policy inference: 25727 fps total: 17117 epoch: 955/1000\n",
            "fps step: 63533 fps step and policy inference: 28199 fps total: 18371 epoch: 956/1000\n",
            "fps step: 64278 fps step and policy inference: 28596 fps total: 18450 epoch: 957/1000\n",
            "fps step: 63753 fps step and policy inference: 28884 fps total: 18541 epoch: 958/1000\n",
            "fps step: 62489 fps step and policy inference: 27790 fps total: 18152 epoch: 959/1000\n",
            "fps step: 62830 fps step and policy inference: 27596 fps total: 17557 epoch: 960/1000\n",
            "fps step: 62475 fps step and policy inference: 27113 fps total: 17595 epoch: 961/1000\n",
            "fps step: 58453 fps step and policy inference: 25104 fps total: 16847 epoch: 962/1000\n",
            "fps step: 65070 fps step and policy inference: 29474 fps total: 18828 epoch: 963/1000\n",
            "fps step: 65784 fps step and policy inference: 29738 fps total: 18519 epoch: 964/1000\n",
            "fps step: 63191 fps step and policy inference: 27438 fps total: 17955 epoch: 965/1000\n",
            "fps step: 60883 fps step and policy inference: 26868 fps total: 17727 epoch: 966/1000\n",
            "fps step: 64428 fps step and policy inference: 28584 fps total: 18251 epoch: 967/1000\n",
            "fps step: 62989 fps step and policy inference: 27762 fps total: 18138 epoch: 968/1000\n",
            "fps step: 60044 fps step and policy inference: 25651 fps total: 17034 epoch: 969/1000\n",
            "fps step: 58854 fps step and policy inference: 24867 fps total: 16842 epoch: 970/1000\n",
            "saving next best rewards:  [1442.3019]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 60630 fps step and policy inference: 25996 fps total: 17234 epoch: 971/1000\n",
            "fps step: 62706 fps step and policy inference: 27450 fps total: 17966 epoch: 972/1000\n",
            "fps step: 64820 fps step and policy inference: 28364 fps total: 18385 epoch: 973/1000\n",
            "fps step: 61977 fps step and policy inference: 28187 fps total: 18310 epoch: 974/1000\n",
            "saving next best rewards:  [1445.5693]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 63988 fps step and policy inference: 28586 fps total: 18453 epoch: 975/1000\n",
            "fps step: 64620 fps step and policy inference: 29022 fps total: 18581 epoch: 976/1000\n",
            "fps step: 60260 fps step and policy inference: 25663 fps total: 17272 epoch: 977/1000\n",
            "fps step: 55298 fps step and policy inference: 23010 fps total: 15857 epoch: 978/1000\n",
            "saving next best rewards:  [1449.3958]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 51801 fps step and policy inference: 20481 fps total: 14690 epoch: 979/1000\n",
            "fps step: 64067 fps step and policy inference: 28542 fps total: 18243 epoch: 980/1000\n",
            "fps step: 58064 fps step and policy inference: 23918 fps total: 16344 epoch: 981/1000\n",
            "fps step: 60421 fps step and policy inference: 26684 fps total: 17631 epoch: 982/1000\n",
            "fps step: 64310 fps step and policy inference: 29016 fps total: 18673 epoch: 983/1000\n",
            "fps step: 64103 fps step and policy inference: 28415 fps total: 18441 epoch: 984/1000\n",
            "fps step: 65351 fps step and policy inference: 29699 fps total: 18798 epoch: 985/1000\n",
            "fps step: 63338 fps step and policy inference: 29063 fps total: 18599 epoch: 986/1000\n",
            "fps step: 64836 fps step and policy inference: 29492 fps total: 18882 epoch: 987/1000\n",
            "fps step: 65358 fps step and policy inference: 29301 fps total: 18663 epoch: 988/1000\n",
            "fps step: 65038 fps step and policy inference: 29440 fps total: 18740 epoch: 989/1000\n",
            "fps step: 60684 fps step and policy inference: 26817 fps total: 17562 epoch: 990/1000\n",
            "saving next best rewards:  [1450.2551]\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/HalfCheetah-v4_envpool.pth'\n",
            "fps step: 65414 fps step and policy inference: 29733 fps total: 18953 epoch: 991/1000\n",
            "fps step: 65352 fps step and policy inference: 29688 fps total: 18923 epoch: 992/1000\n",
            "fps step: 65032 fps step and policy inference: 28509 fps total: 18128 epoch: 993/1000\n",
            "fps step: 52134 fps step and policy inference: 20856 fps total: 14800 epoch: 994/1000\n",
            "fps step: 62367 fps step and policy inference: 26950 fps total: 17729 epoch: 995/1000\n",
            "fps step: 65196 fps step and policy inference: 29371 fps total: 18735 epoch: 996/1000\n",
            "fps step: 65511 fps step and policy inference: 29571 fps total: 18722 epoch: 997/1000\n",
            "fps step: 62206 fps step and policy inference: 27874 fps total: 18037 epoch: 998/1000\n",
            "fps step: 63518 fps step and policy inference: 28140 fps total: 18177 epoch: 999/1000\n",
            "fps step: 65475 fps step and policy inference: 29327 fps total: 18755 epoch: 1000/1000\n",
            "=> saving checkpoint 'runs/HalfCheetah-v4_envpool_23-10-41-37/nn/last_HalfCheetah-v4_envpoolep1000rew[1448.0536].pth'\n",
            "MAX EPOCHS NUM!\n"
          ]
        }
      ]
    }
  ]
}